CN108776740B - Speed change curvature synchronization method and system for double-drive vehicle and related components - Google Patents
Speed change curvature synchronization method and system for double-drive vehicle and related components Download PDFInfo
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Abstract
The application discloses a speed change curvature synchronization method of a double-drive vehicle, wherein the speed change curvature synchronization comprises the steps of receiving a speed command sent by a controller; detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the current moment; calculating a first speed tracking rate according to the first execution speed and the actual speed of the first wheel set, and calculating a second speed tracking rate according to the second execution speed and the actual speed of the second wheel set; judging whether the difference value of the tracking rates of the first base rate and the second tracking rate is greater than a first preset value or not; if so, adjusting the actual speed of the first wheel set or the actual speed of the second wheel set. The method can reduce the time difference between the first wheel set and the second wheel set to reach the target speed in the control command, and reduce the yaw probability of the vehicle. The application also discloses a speed change curvature synchronization system of the dual-drive vehicle, a computer readable storage medium and a driver of the dual-drive vehicle, which have the beneficial effects.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a speed change curvature synchronization method and system for a dual-drive vehicle, a computer readable storage medium and a driver for the dual-drive vehicle.
Background
The double-drive vehicle is a vehicle powered by front wheels or rear wheels, and has better flexibility. The essence of the double-drive vehicle lies in that a double-drive chassis is adopted, the double-drive chassis is a motion structure consisting of a left wheel, a right wheel and a left wheel driver, and due to the existence of two drivers and other mechanical structures, the situation that the speed tracking of one driver cannot follow the speed of the other driver cannot be avoided, and if the speed change situations of the left wheel and the right wheel are inconsistent in the driving process, the problems of vehicle yaw or driver error report are caused.
In the field of vehicle driving, the speed issued by the controller to the wheel is often referred to as an execution speed, the speed of the wheel at the current moment is referred to as an actual speed, the speed tracking rate of the wheel can be obtained according to the relationship between the execution speed and the actual speed, and when the speed tracking rates of the left wheel and the right wheel are greatly different, the problem that the speed tracking of the driver on one side cannot follow the driver on the other side can occur. Aiming at the problems, the prior art can only restore the normal running route of the vehicle through manual control, and a technical scheme for fundamentally solving the problem of inconsistent speed and curvature of the left wheel and the right wheel of the double-drive vehicle does not exist.
Therefore, how to reduce the time difference between the first wheel set and the second wheel set reaching the target speed in the control command and reduce the probability of the vehicle yawing is a technical problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
The application aims to provide a speed change curvature synchronization method and system of a double-drive vehicle, a computer readable storage medium and a driver of the double-drive vehicle, which can reduce the time difference of a first wheel set and a second wheel set reaching a target speed in a control command and reduce the probability of vehicle yaw.
In order to solve the technical problem, the present application provides a speed change curvature synchronization method for a dual drive vehicle, including:
receiving a speed command sent by a controller; wherein the speed command comprises a first execution speed to which the controller controls the first wheel set to rotate and a second execution speed to which the controller controls the second wheel set to rotate;
controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command, and detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the current moment;
calculating a first speed tracking rate according to the first execution speed and the actual speed of the first wheel set, and calculating a second speed tracking rate according to the second execution speed and the actual speed of the second wheel set;
judging whether the difference value of the tracking rates of the first base rate and the second tracking rate is greater than a first preset value or not;
if so, adjusting the actual speed of the first wheel set or the actual speed of the second wheel set so as to enable the absolute value of the adjusted tracking rate difference value to be smaller than or equal to a second preset value; wherein the second preset value is smaller than the first preset value.
Optionally, calculating a first speed tracking rate according to the first execution speed and the actual speed of the first wheel set, and calculating a second speed tracking rate according to the second execution speed and the actual speed of the second wheel set includes:
calculating a first ratio of an actual speed of the first wheel set to the first execution speed, and taking the first ratio as the first speed tracking rate;
and calculating a second ratio of the actual speed of the second wheel set to the second execution speed, and taking the second ratio as the second speed tracking rate.
Optionally, adjusting the actual speed of the first wheel set or the actual speed of the second wheel set to make the absolute value of the adjusted tracking rate difference smaller than or equal to a second preset value includes:
judging whether the first speed tracking rate is greater than the second speed tracking rate;
if so, adjusting the actual speed of the first wheel set so that the adjusted tracking rate difference value is smaller than or equal to the second preset value; the adjusted actual speed of the second wheel set is the product of the first execution speed before adjustment and the second speed tracking rate;
if not, adjusting the actual speed of the second wheel set so that the adjusted tracking rate difference value is smaller than or equal to the second preset value; and the adjusted actual speed of the second wheel set is the product of the second execution speed before adjustment and the first speed tracking rate.
Optionally, the detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the current time includes:
taking the average speed value of the first wheel set in a period corresponding to the current moment as the actual speed of the first wheel set;
and taking the average speed value of the second wheel set in the period corresponding to the current moment as the actual speed of the second wheel set.
The present application further provides a speed change curvature synchronization system of a dual drive vehicle, the speed change curvature synchronization system comprising:
the command receiving module is used for receiving the speed command sent by the controller; wherein the speed command comprises a first execution speed to which the controller controls the first wheel set to rotate and a second execution speed to which the controller controls the second wheel set to rotate;
the driving module is used for controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command and detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the current moment;
a tracking rate calculation module, configured to calculate a first speed tracking rate according to the first execution speed and an actual speed of the first wheel set, and calculate a second speed tracking rate according to the second execution speed and an actual speed of the second wheel set;
the judging module is used for judging whether the difference value of the tracking rates of the first base rate and the second tracking rate is greater than a first preset value or not;
the adjusting module is used for adjusting the actual speed of the first wheel set or the actual speed of the second wheel set when the absolute value of the tracking rate difference value is larger than a first preset value, so that the absolute value of the adjusted tracking rate difference value is smaller than or equal to a second preset value; wherein the second preset value is smaller than the first preset value.
Optionally, the tracking rate calculating module includes:
a first tracking rate calculation unit configured to calculate a first ratio of an actual speed of the first wheel set to the first execution speed, and use the first ratio as the first speed tracking rate;
and the second tracking rate calculation unit is used for calculating a second ratio of the actual speed of the second wheel set to the second execution speed, and taking the second ratio as the second speed tracking rate.
Optionally, the adjusting module includes:
a tracking rate judging unit configured to judge whether the first speed tracking rate is greater than the second speed tracking rate;
a first adjusting unit, configured to adjust an actual speed of the first wheel set when the first speed tracking rate is greater than the second speed tracking rate, so that the adjusted tracking rate difference is smaller than or equal to the second preset value; the adjusted actual speed of the second wheel set is the product of the first execution speed before adjustment and the second speed tracking rate;
a second adjusting unit, configured to adjust an actual speed of the second wheel set when the second speed tracking rate is less than or equal to the first speed tracking rate, so that the adjusted tracking rate difference is less than or equal to the second preset value; and the adjusted actual speed of the second wheel set is the product of the second execution speed before adjustment and the first speed tracking rate.
Optionally, the driving module includes:
the driving unit is used for controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command;
the first average speed detection unit is used for taking the speed average value of the first wheel set in a period corresponding to the current moment as the actual speed of the first wheel set;
and the second average speed detection unit is used for taking the average speed value of the second wheel set in the period corresponding to the current moment as the actual speed of the second wheel set.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed, implements the steps performed by the speed change curvature synchronization method of a dual drive vehicle described above.
The application also provides a driver of the double-drive vehicle, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor realizes the steps executed by the speed change curvature synchronization method of the double-drive vehicle when calling the computer program in the memory.
The invention provides a speed change curvature synchronization method of a double-drive vehicle, which comprises the steps of receiving a speed command sent by a controller; wherein the speed command comprises a first execution speed to which the controller controls the first wheel set to rotate and a second execution speed to which the controller controls the second wheel set to rotate; controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command, and detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the current moment; calculating a first speed tracking rate according to the first execution speed and the actual speed of the first wheel set, and calculating a second speed tracking rate according to the second execution speed and the actual speed of the second wheel set; judging whether the difference value of the tracking rates of the first base rate and the second tracking rate is greater than a first preset value or not; if so, adjusting the actual speed of the first wheel set or the actual speed of the second wheel set so as to enable the absolute value of the adjusted tracking rate difference value to be smaller than or equal to a second preset value; wherein the second preset value is smaller than the first preset value.
Because there are many other structures of the dual-drive chassis, the actual speeds of the first wheel set and the second wheel set cannot reach the execution speed immediately and simultaneously, so that the inconsistency of the speed tracking rates of the left wheel and the right wheel is the root cause of the prior art that the speed change curvatures of the first wheel set and the second wheel set cannot be consistent. According to the invention, the first execution speed and the second execution speed which are required to be achieved by controlling the first wheel set and the second wheel set through the receiving controller are detected, the actual speed of the first wheel set and the actual speed of the second wheel set in the current period are detected to calculate the first speed tracking rate of the first wheel set and the second tracking rate of the second wheel set, and when the difference value of the first tracking rate and the second tracking rate is larger, the problem that the speed cannot follow the other wheel set exists in the first wheel set or the second wheel set is solved. According to the method, after the fact that the two wheel sets cannot catch up is determined, the actual speed of the first wheel set or the actual speed of the second wheel set is changed, so that the speed tracking rate difference between the two wheel sets is recovered to be within an allowable range, the time difference of the first wheel set and the second wheel set reaching the target speed in the control command is further shortened, and the yaw probability of the vehicle is reduced. The application also provides a speed change curvature synchronization system of the dual-drive vehicle, a computer readable storage medium and a driver of the dual-drive vehicle, which have the beneficial effects and are not repeated herein.
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In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow chart of a method for synchronizing speed change curvatures of a dual drive vehicle according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of another method for synchronizing speed change and curvature of a dual drive vehicle according to an embodiment of the present disclosure;
FIG. 3 is a graph of speed versus time for normal tracking;
FIG. 4 is a graph of velocity versus time for an abnormal trace;
fig. 5 is a schematic structural diagram of a speed change curvature synchronization system of a dual-drive vehicle according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating a speed change curvature synchronization method for a dual-drive vehicle according to an embodiment of the present disclosure.
The specific steps may include:
s101: receiving a speed command sent by a controller; wherein the speed command comprises a first execution speed to which the controller controls the first wheel set to rotate and a second execution speed to which the controller controls the second wheel set to rotate;
the embodiment is an improvement on the driver of the dual-drive vehicle, and can be applied to the purpose of reducing the time difference between the first wheel set and the second wheel set to reach the target speed in the control instruction and reducing the yaw probability of the vehicle under the control of any controller.
The purpose of this step is to obtain a speed command issued by the controller, where the speed command refers to a command related to the speed that the controller needs to achieve by the first wheel set and the second wheel set, that is, the speed command may include a first execution speed to be achieved by controlling the rotation of the first wheel set and a second execution speed to be achieved by controlling the rotation of the second wheel set by the controller. It should be noted that the driver cannot immediately drive the first wheel set to the first execution speed, but needs a certain time to gradually accelerate the first wheel set to finally reach the first execution speed. It should be noted that, in practice, the driver changes the rotation speed of the first wheel set, and since the first wheel set has a fixed transmission coefficient such as a fixed diameter and a fixed reduction ratio, the rotation speed can be converted into an actual speed, so that it can be understood that the driver changes the speed of the first wheel set. The above description also applies to the second wheel set, and is not repeated here.
It can be understood that, the first wheel set and the second wheel set mentioned in this embodiment refer to two types of wheels powered by the dual-drive vehicle, and no limitation is made to how many wheels are specifically included in the first wheel set and the second wheel set.
Of course, in this embodiment, there may be a plurality of drivers for controlling the first wheel set and the second wheel set, that is, the first wheel set has a first driver uniquely corresponding thereto, and the second wheel set has a second driver uniquely corresponding thereto, and the number of drivers and the specific control relationship are not limited in this embodiment.
S102: controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command, and detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the current moment;
the first wheel set and the second wheel set are realized through certain acceleration operation in the whole process of controlling the first wheel set and the second wheel set to rotate by the driver, the first wheel set and the second wheel set have different speeds at different moments, and the speeds of the first wheel set and the second wheel set are closer to the first execution speed and the second execution speed in the speed command as the time for controlling the motor to drive by the driver according to the speed command is longer. Because before first wheelset and second wheelset do not reach first execution speed and second execution speed, the speed of first wheelset and the speed of second wheelset are all constantly changing, consequently obtain the actual speed of the first wheelset of present moment and the actual speed of second wheelset and can accurately assay first wheelset and second wheelset and reach the progress of corresponding execution speed under the driver drive, speed tracking rate promptly.
It can be understood that, since there is a certain error in the actual speeds of the first wheel set and the second wheel set at a certain time, the average speed of the first wheel set in the period corresponding to the current time can be obtained as the actual speed, and the average speed of the second wheel set can be obtained as the actual speed.
S103: calculating a first speed tracking rate according to the first execution speed and the actual speed of the first wheel set, and calculating a second speed tracking rate according to the second execution speed and the actual speed of the second wheel set;
wherein, on the premise of obtaining the first execution speed and the actual speed of the first wheel set, the completion degree of the first wheel set relative to the speed instruction, namely the first speed tracking rate, can be analyzed. The calculation method of the speed tracking rate may be a ratio of the first execution speed to an actual speed of the first wheel set, or may be a ratio of an actual speed of the first wheel set to the first execution speed, which is not specifically limited herein, as long as the obtained first speed tracking rate can represent a relationship between a speed that the first wheel set has reached and a speed that the first wheel set is to reach. The above description also applies to the second velocity tracking rate, and is not described in detail here.
S104: judging whether the difference value of the tracking rates of the first base rate and the second tracking rate is greater than a first preset value or not; if yes, entering S105; if not, ending the flow;
under the ideal condition that no transmission error or environmental error occurs, the first speed tracking rate and the second speed tracking rate at any time are completely consistent, in this case, the dual-drive vehicle can run according to a specified route, and the driver does not have the phenomenon of error report because the first wheel set or the second wheel set cannot follow the opposite side. However, since in actual operation the ideal situation is not substantially expected, the speed tracking rates of the first and second wheelsets will deviate to a greater or lesser extent, and of course, or the tracking rate will deteriorate within the tolerance limits, it is permissible that this will not result in a severe yaw of the vehicle. However, when the speed tracking rates of the first wheel set and the second wheel set are too different (e.g. greater than the first preset value in this step), the vehicle will be severely yawed, and normal vehicle navigation will be affected.
When the tracking rate difference is greater than the first preset value, the step of adjusting the actual speed in S105 may be performed; when the tracking rate difference is smaller than or equal to the first preset value, the determination process in this step may be ended, and as a preferred embodiment, after the tracking rate difference is smaller than or equal to the first preset value, the operations in S102 to S104 may be executed again with a delay for a preset time until the condition in S104 is satisfied or the dual drive vehicle stops moving. It should be added that the first preset value is a value set by a person skilled in the art by comprehensively considering the vehicle performance and the environment in which the vehicle is running, and when the tracking rate difference is greater than the first preset value, the vehicle will be severely yawed, and normal vehicle navigation will be affected.
S105: adjusting the actual speed of the first wheel set or the actual speed of the second wheel set so that the absolute value of the adjusted tracking rate difference value is smaller than or equal to a second preset value; wherein the second preset value is smaller than the first preset value;
in this step, on the premise that the tracking rate difference is greater than the first preset value in S104, the tracking rate difference between the first wheel set and the second wheel set needs to be changed. The operation of adjusting the first execution speed or the second execution speed in this step is performed on a driver level, and it can be understood that when the tracking difference is large, because there is a problem that the wheel set on one side cannot follow the speed of the wheel set on the other side due to mechanical transmission, it is impossible to reduce the tracking difference by changing the actual speed of the wheel set with poor speed tracking rate, and therefore, the execution speed of the wheel set with good speed tracking rate should be changed. That is, the step of "adjusting the actual speed of the first wheel set or the actual speed of the second wheel set" in S105 actually means to change the execution speed of the wheel set with the poor speed tracking rate in the first wheel set and the second wheel set. Further, the good and bad speed tracking rate can be evaluated by comparing the closeness degree of the speed of the wheel set at the current moment with the actual speed to be reached, the closer the speed at the current moment is to the execution speed, the better the speed tracking rate is, and the closer the speed at the current moment is to the execution speed, the worse the speed tracking rate is.
It can be understood that, the specific value obtained by adjusting the actual speed of the first wheel set or the actual speed of the second wheel set is not limited herein, as long as the adjusted speed tracking rate difference is smaller than the second preset value. It can be understood that the second preset value is set according to the practical application condition of the scheme, and the significance of the second preset value set here is that when the speed tracking rate difference value is smaller than the second preset value, even if a certain deviation exists between the speeds of the first wheel set and the second wheel set, the normal running of the dual-drive vehicle cannot be obviously affected, and the driver cannot report errors. Of course, as a preferred embodiment, the adjusted first speed tracking rate and the second speed tracking rate may be equal, i.e. the speed tracking rate difference is zero. It is noted that the speed tracking rate is only related to the execution speed issued by the controller and the actual speed of the wheel set, so changing the actual speed of the wheel set at the driver level can have the effect of changing the speed tracking rate.
Because there are many other structures of the dual-drive chassis, the actual speeds of the first wheel set and the second wheel set cannot reach the execution speed immediately and simultaneously, so that the inconsistency of the speed tracking rates of the left wheel and the right wheel is the root cause of the prior art that the speed change curvatures of the first wheel set and the second wheel set cannot be consistent. Based on the embodiment, the first execution speed and the second execution speed which are required to be achieved by controlling the first wheel set and the second wheel set through the controller are received, the actual speed of the first wheel set and the actual speed of the second wheel set in the current period are detected, the first speed tracking rate of the first wheel set and the second tracking rate of the second wheel set are calculated, and when the difference value between the first tracking rate and the second tracking rate is large, the problem that the speed cannot follow the other wheel set exists in the first wheel set or the second wheel set is solved. In the embodiment, after the fact that the two wheel sets cannot catch up is determined, the execution speed issued to the first wheel set or the second wheel set is changed, so that the speed tracking rate difference value between the two wheel sets is recovered to be within an allowable range, the time difference of the first wheel set and the second wheel set reaching the target speed in the control command is further reduced, and the yaw probability of the vehicle is reduced.
Referring now to fig. 2, fig. 2 is a flow chart illustrating another method for synchronizing speed change curvature of a dual-drive vehicle according to an embodiment of the present disclosure;
the specific steps may include:
s201: receiving a speed command sent by a controller; wherein the speed command comprises a first execution speed to which the controller controls the first wheel set to rotate and a second execution speed to which the controller controls the second wheel set to rotate;
s202: controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command;
s203: taking the average speed value of the first wheel set in a period corresponding to the current moment as the actual speed of the first wheel set;
s204: taking the average speed value of the second wheel set in the period corresponding to the current moment as the actual speed of the second wheel set;
in order to avoid the influence of single mutation on the detection stability, the speed calculation average value of the wheel sets is selected multiple times in the period of the current time as the actual speed in S203 and S204. In this embodiment, the process of detecting the speed conditions of the first wheel set and the second wheel set is divided into a plurality of cycles, and the duration of the cycles can be flexibly set according to implementation conditions.
S205: calculating a first ratio of an actual speed of the first wheel set to the first execution speed, and taking the first ratio as the first speed tracking rate;
s206: and calculating a second ratio of the actual speed of the second wheel set to the second execution speed, and taking the second ratio as the second speed tracking rate.
S207: judging whether the difference value of the tracking rates of the first base rate and the second tracking rate is greater than a first preset value or not; if yes, entering S208; if not, the step S203 is entered;
s208: judging whether the first speed tracking rate is greater than the second speed tracking rate; if yes, go to S209; if not, entering S210;
s209: adjusting the actual speed of the first wheel set so that the adjusted tracking rate difference value is smaller than or equal to the second preset value; the adjusted actual speed of the second wheel set is the product of the first execution speed before adjustment and the second speed tracking rate;
s210: adjusting the actual speed of the second wheel set so that the adjusted tracking rate difference value is smaller than or equal to the second preset value; and the adjusted actual speed of the second wheel set is the product of the second execution speed before adjustment and the first speed tracking rate.
Compared with the previous embodiment, the speed tracking rates of the first wheel set and the second wheel set after adjustment are equal, so that the first wheel set and the second wheel set can reach the target speed in the control command at the same time, and the phenomenon of vehicle yaw is avoided.
The following describes the operation flow of the above embodiment by a specific example with reference to fig. 3 and 4:
the driver receives the speed command sent by the controller, and the speed command is that the speed of the first wheel set is to reach 100mm/s, and the speed of the second wheel set is to reach 120 mm/s. The actual speed of the first wheel set is detected to be 50mm/s at the current moment, the actual speed of the second wheel set is detected to be 30mm/s, the speed tracking rate of the first wheel set is calculated to be 50/100-0.5, and the speed tracking rate of the second wheel set is calculated to be 0.25. According to the scheme, the default first preset value is 0.2, and the time speed tracking rate difference value is 0.25, so that the fact that the speed execution difference of the first wheel set and the second wheel set is large and the speed execution effect of the first wheel set is good can be determined, and therefore the execution speed of the first wheel set needs to be changed at the moment. And adjusting the actual speed of the first wheel set to be 100 × 0.25 ═ 25mm/s, wherein the speed tracking rates of the first wheel set and the second wheel set are equal after adjustment, namely the speed execution effects of the two wheels are consistent.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a speed change curvature synchronization system of a dual-drive vehicle according to an embodiment of the present disclosure;
the system may include:
a command receiving module 100, configured to receive a speed command sent by a controller; wherein the speed command comprises a first execution speed to which the controller controls the first wheel set to rotate and a second execution speed to which the controller controls the second wheel set to rotate;
the driving module 200 is configured to control the motor to drive the first wheel set and the second wheel set to rotate according to the speed command, and detect an actual speed of the first wheel set and an actual speed of the second wheel set at the current moment;
a tracking rate calculation module 300, configured to calculate a first speed tracking rate according to the first execution speed and the actual speed of the first wheel set, and calculate a second speed tracking rate according to the second execution speed and the actual speed of the second wheel set;
a determining module 400, configured to determine whether a tracking rate difference between the first rate and the second rate is greater than a first preset value;
an adjusting module 500, configured to adjust an actual speed of the first wheel set or an actual speed of the second wheel set when the absolute value of the tracking rate difference is greater than a first preset value, so that the absolute value of the adjusted tracking rate difference is smaller than or equal to a second preset value; wherein the second preset value is smaller than the first preset value.
Further, the tracking rate calculation module 300 includes:
a first tracking rate calculation unit configured to calculate a first ratio of an actual speed of the first wheel set to the first execution speed, and use the first ratio as the first speed tracking rate;
and the second tracking rate calculation unit is used for calculating a second ratio of the actual speed of the second wheel set to the second execution speed, and taking the second ratio as the second speed tracking rate.
Further, the adjusting module 500 includes:
a tracking rate judging unit configured to judge whether the first speed tracking rate is greater than the second speed tracking rate;
a first adjusting unit, configured to adjust an actual speed of the first wheel set when the first speed tracking rate is greater than the second speed tracking rate, so that the adjusted tracking rate difference is smaller than or equal to the second preset value; the adjusted actual speed of the second wheel set is the product of the first execution speed before adjustment and the second speed tracking rate;
a second adjusting unit, configured to adjust an actual speed of the second wheel set when the second speed tracking rate is less than or equal to the first speed tracking rate, so that the adjusted tracking rate difference is less than or equal to the second preset value; and the adjusted actual speed of the second wheel set is the product of the second execution speed before adjustment and the first speed tracking rate.
Further, the driving module 200 includes:
the driving unit is used for controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command;
the first average speed detection unit is used for taking the speed average value of the first wheel set in a period corresponding to the current moment as the actual speed of the first wheel set;
and the second average speed detection unit is used for taking the average speed value of the second wheel set in the period corresponding to the current moment as the actual speed of the second wheel set.
Since the embodiment of the system part corresponds to the embodiment of the method part, the embodiment of the system part is described with reference to the embodiment of the method part, and is not repeated here.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed, may implement the steps provided by the above-described embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The application also provides a driver of a dual-drive vehicle, which may include a memory and a processor, wherein the memory stores a computer program, and the processor may implement the steps provided in the foregoing embodiments when calling the computer program in the memory. Of course, the drive of the dual-drive vehicle may also comprise various network interfaces, power supplies and other components.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A speed change curvature synchronization method of a double-drive vehicle is applied to a driver and is characterized by comprising the following steps:
receiving a speed command sent by a controller; wherein the speed command comprises a first execution speed to be reached by the controller for controlling the first wheel set to rotate and a second execution speed to be reached by the controller for controlling the second wheel set to rotate;
controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command, and detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the current moment;
calculating a first speed tracking rate according to the first execution speed and the actual speed of the first wheel set, and calculating a second speed tracking rate according to the second execution speed and the actual speed of the second wheel set;
judging whether the tracking rate difference value of the first speed tracking rate and the second speed tracking rate is greater than a first preset value or not;
if so, adjusting the actual speed of the first wheel set or the actual speed of the second wheel set so as to enable the absolute value of the adjusted tracking rate difference value to be smaller than or equal to a second preset value; wherein the second preset value is smaller than the first preset value;
wherein adjusting the actual speed of the first wheel set or the actual speed of the second wheel set to make the absolute value of the adjusted tracking rate difference smaller than or equal to a second preset value comprises:
judging whether the first speed tracking rate is greater than the second speed tracking rate;
if so, adjusting the actual speed of the first wheel set so that the adjusted tracking rate difference value is smaller than or equal to the second preset value; the adjusted actual speed of the first wheel set is the product of the first execution speed before adjustment and the second speed tracking rate;
if not, adjusting the actual speed of the second wheel set so that the adjusted tracking rate difference value is smaller than or equal to the second preset value; and the adjusted actual speed of the second wheel set is the product of the second execution speed before adjustment and the first speed tracking rate.
2. The method of speed change curvature synchronization of a dual drive vehicle of claim 1, wherein calculating a first speed tracking rate based on the first execution speed and an actual speed of the first wheel set and calculating a second speed tracking rate based on the second execution speed and an actual speed of the second wheel set comprises:
calculating a first ratio of an actual speed of the first wheel set to the first execution speed, and taking the first ratio as the first speed tracking rate;
and calculating a second ratio of the actual speed of the second wheel set to the second execution speed, and taking the second ratio as the second speed tracking rate.
3. The speed change curvature synchronization method of a dual drive vehicle according to claim 1, wherein the detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the present time comprises:
taking the average speed value of the first wheel set in a period corresponding to the current moment as the actual speed of the first wheel set;
and taking the average speed value of the second wheel set in the period corresponding to the current moment as the actual speed of the second wheel set.
4. A speed change curvature synchronization system for a dual drive vehicle for use in a drive, comprising:
the command receiving module is used for receiving the speed command sent by the controller; wherein the speed command comprises a first execution speed to be reached by the controller for controlling the first wheel set to rotate and a second execution speed to be reached by the controller for controlling the second wheel set to rotate;
the driving module is used for controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command and detecting the actual speed of the first wheel set and the actual speed of the second wheel set at the current moment;
a tracking rate calculation module, configured to calculate a first speed tracking rate according to the first execution speed and an actual speed of the first wheel set, and calculate a second speed tracking rate according to the second execution speed and an actual speed of the second wheel set;
the judging module is used for judging whether the tracking rate difference value of the first speed tracking rate and the second speed tracking rate is greater than a first preset value or not;
the adjusting module is used for adjusting the actual speed of the first wheel set or the actual speed of the second wheel set when the absolute value of the tracking rate difference value is larger than a first preset value, so that the absolute value of the adjusted tracking rate difference value is smaller than or equal to a second preset value; wherein the second preset value is smaller than the first preset value;
wherein the adjustment module comprises:
a tracking rate judging unit configured to judge whether the first speed tracking rate is greater than the second speed tracking rate;
a first adjusting unit, configured to adjust an actual speed of the first wheel set when the first speed tracking rate is greater than the second speed tracking rate, so that the adjusted tracking rate difference is smaller than or equal to the second preset value; the adjusted actual speed of the second wheel set is the product of the first execution speed before adjustment and the second speed tracking rate;
a second adjusting unit, configured to adjust an actual speed of the second wheel set when the second speed tracking rate is less than or equal to the first speed tracking rate, so that the adjusted tracking rate difference is less than or equal to the second preset value; and the adjusted actual speed of the second wheel set is the product of the second execution speed before adjustment and the first speed tracking rate.
5. The speed change curvature synchronization system of a dual drive vehicle of claim 4, wherein the tracking rate calculation module comprises:
a first tracking rate calculation unit configured to calculate a first ratio of an actual speed of the first wheel set to the first execution speed, and use the first ratio as the first speed tracking rate;
and the second tracking rate calculation unit is used for calculating a second ratio of the actual speed of the second wheel set to the second execution speed, and taking the second ratio as the second speed tracking rate.
6. The speed change curvature synchronization system of a dual drive vehicle of claim 4, wherein the drive module comprises:
the driving unit is used for controlling a motor to drive the first wheel set and the second wheel set to rotate according to the speed command;
the first average speed detection unit is used for taking the speed average value of the first wheel set in a period corresponding to the current moment as the actual speed of the first wheel set;
and the second average speed detection unit is used for taking the average speed value of the second wheel set in the period corresponding to the current moment as the actual speed of the second wheel set.
7. A drive for a dual drive vehicle, comprising:
a memory for storing a computer program;
a processor for performing the steps of the method of speed change curvature synchronization of a dual drive vehicle as claimed in any one of claims 1 to 3 when executing the computer program.
8. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method for speed change curvature synchronization of a dual drive vehicle according to any one of claims 1 to 3.
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| CN101229781B (en) * | 2008-02-04 | 2010-09-01 | 徐小康 | Differential control system for two-wheeled driven electric vehicle |
| JP4798181B2 (en) * | 2008-07-29 | 2011-10-19 | トヨタ自動車株式会社 | MOBILE BODY, TRAVEL DEVICE, AND MOBILE BODY CONTROL METHOD |
| JP5195871B2 (en) * | 2010-10-29 | 2013-05-15 | トヨタ自動車株式会社 | Braking force control device for vehicle |
| CN103019239A (en) * | 2012-11-27 | 2013-04-03 | 江苏大学 | Trajectory tracking sliding mode control system and control method for spraying mobile robot |
| CN104440910B (en) * | 2014-11-07 | 2016-05-04 | 绵阳市维博电子有限责任公司 | A kind of method and system that realize robot both hands arm Synchronization Control |
| CN105068543B (en) * | 2015-08-11 | 2017-07-28 | 浙江工业大学 | It is a kind of that type AGV two-wheeled synchronous method is born based on PID control |
| CN106886215B (en) * | 2015-12-15 | 2023-08-04 | 北京智行者科技股份有限公司 | Tracking system based on multi-axis trolley bus and trolley bus with tracking system |
| GB2550160B (en) * | 2016-05-10 | 2018-11-14 | Jaguar Land Rover Ltd | Vehicle driveline disconnect method and apparatus |
| CN106026793A (en) * | 2016-06-28 | 2016-10-12 | 东华大学 | Master-slave type multi-motor synchronization control method based on fuzzy PID |
| CN108068938B (en) * | 2016-11-11 | 2020-01-03 | 广东高标电子科技有限公司 | Speed control method and system for two-wheel vehicle |
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